抄録
We have developed a novel big danger disposal manipulator, "BIG HAND", together with crawler type mobile platform, and have reported the basic design in related field before. In this paper, we first describe the entire system implementation, and then discuss the requirement for EOD task also the control algorithms for such task in the later chapters. The "BIG HAND" is developed mainly for rescue and public security purpose, and is scheduled to be applied into public sites such as airports, stations, and so on. The manipulator has 7 Degrees of Freedom (DOF) including 1 DOF in gripper, well the crawler type mobile platform employed 2 DOFs general structure and equipped powerful combustion engine supplying long time energy to the whole system. The verified performance for the EOD task is about 4.4m maximum reach, 32kg payload in horizontal extension posture; automatic detection, scanning, grasping, and danger disposal routines.
